[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

US6101795A - Automatic steering mechanism and method for harvesting machine - Google Patents

Automatic steering mechanism and method for harvesting machine Download PDF

Info

Publication number
US6101795A
US6101795A US09/076,160 US7616098A US6101795A US 6101795 A US6101795 A US 6101795A US 7616098 A US7616098 A US 7616098A US 6101795 A US6101795 A US 6101795A
Authority
US
United States
Prior art keywords
harvesting machine
machine according
locating
cutterbar
locating device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
US09/076,160
Inventor
Norbert Diekhans
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Claas KGaA mbH
Original Assignee
Claas KGaA mbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=7829288&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=US6101795(A) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Claas KGaA mbH filed Critical Claas KGaA mbH
Assigned to CLAAS KGAA reassignment CLAAS KGAA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: DIEKHANS, NORBERT
Application granted granted Critical
Publication of US6101795A publication Critical patent/US6101795A/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S56/00—Harvesters
    • Y10S56/15—Condition responsive

Definitions

  • the present invention relates generally to agricultural machinery and, more particularly, to improvements to harvesting machines for agricultural crops.
  • Some harvesting machines are self-propelled and have a cutterbar, or mowing unit, and a locating device to scan the crop edge for steering orientation.
  • a harvesting machine is disclosed in German Patent application 24 55 836.
  • This harvesting machine scans the crop edge within a certain distance via a reflex position locator, either by means of light beams or ultrasonic waves, without physical contact in front of the cutterbar.
  • the automatic steering mechanism of the afore-mentioned harvesting machine has led to irregular tracks and non-uniform crop edges.
  • the hill drift-away effect of the automatically-steerable harvesting machine is not sufficiently compensated.
  • Another object of the present invention is to overcome one or more of the above-described deficiencies. Another object is to improve the aforementioned harvesting machine by producing a rugged and more reliable automatic steering mechanism for harvesting machines.
  • a self-propelled harvesting machine for harvesting agricultural crops and including steerable wheels, a cutterbar, a locating device which determines the crop edge and produces locating signals, a controller for receiving the locating signals, and a steering mechanism for the steerable wheels; wherein the locating device is constructed and arranged to sense the crop edge in front of the cutterbar in at least two separate distances and produces at least two separate locating signals; and the controller processes the two locating signals received to determine the path of travel and controls the steering mechanism accordingly.
  • the automatically-steered harvesting machine has at least one generally-known locating device to scan the crop-edge.
  • the locating signals are fed to a controller, such as electronic circuits or a micro-controller, where they are processed.
  • the controller also receives the harvesting machine's actual steering lock angle values from the steerable wheels in a manner known in the art, and operates via well-known hydraulic devices to adjust the steerable wheels.
  • Such devices are, for example, a hydraulic steering cylinder, which is controlled by an electrically actuated hydraulic control valve filled with hydraulic fluid.
  • the controller for the automatic steering mechanism processes two or more reported locating signals in variable scanning distances mounted in front of the cutterbar. This arrangement provides a harvesting machine with automatic steering mechanism with durable operating controls and enhanced reliability.
  • a method for automatically steering a self-propelled harvesting machine which has a cutter bar, steerable wheels, and a steering mechanism for the steerable wheels; the method including the steps of: sensing the crop edge in front of the cutterbar in at least two separate distances and producing at least two separate locating signals; processing the two locating signals received to determine the path of travel for the machine; and controlling the steering mechanism accordingly.
  • FIG. 1 is a top plan view of a harvesting machine with an automatic steering mechanism in operation during a harvesting function
  • FIG. 2 is a side elevation view of the harvesting machine shown in FIG. 1;
  • FIG. 3 is a schematic drawing of a controller and a steering device.
  • FIG. 1 shows a harvesting machine 1 with an automatic steering system performing the harvesting function, for example, in a grain field.
  • the harvesting machine 1 is advantageously a self-propelled combine with a cutterbar 2.
  • Two locating devices OV1, OV2 scan a crop edge EK in two variable distances A1, A2 in front of the cutterbar 2.
  • the scanning point of the crop edge EK scanned by the first locating device OV1 lies in the "distant area" approximately 10 to 50 feet, and preferably 26 to 33feet in front of the cutterbar 2.
  • the first locating device OV1 one skilled in the art can use a reflex locating device which, as seen in FIG.
  • FIG. 2 shows a side elevation view of the harvesting machine 1 displaying the mounting position of the first locating device OV1 on the cutterbar 2 and the way in which the locating beams OS1 travel outwardly and downwardly.
  • the locating beams OS1 scan both sides of the crop edge EK; i.e. the cut and the uncut portion of the field.
  • the first reflex locating device OV1 is shown in the form of a laser scanner with a laser beam sending and receiving device whose laser locating beams OS1 are periodically and continually oscillated in a certain angle area.
  • one skilled in the art can also use other locating apparatus such as an ultrasonic sensor with an ultrasonic sending and receiving device for the first locating device OV1.
  • an ultrasonic sensor with an ultrasonic sending and receiving device for the first locating device OV1.
  • the distant or first locating device OV1 one skilled in the art also may use a digital camera positioned above the crops EG and tilted downwardly toward the field. The camera's surveying area in front of the cutterbar 2 for scanning the crop edge EK is evaluated via digital image processing. Using such distant locating device OV1, the position of the crop edge EK can only be determined in one spot within the camera's surveying area and the position of this spot can be used as a locating signal for an automatic steering mechanism hereafter described.
  • the crop edge EK can be determined in two or more spots in the camera's surveying area, and the position of these spots can be used for the automatic steering mechanism.
  • the locating device OV1 is preferably mounted on the cutterbar's 2 left or right border edge SK in such a manner that the center point beam of the locating device OV1 is directly aligned with the cutterbar's 2 border edge SK.
  • the first locating device OV1 may be mounted elsewhere on the machine 1; for example on an operator's cab 1C. In such a case, the position of the first locating device OV1 and its signals OS1 will be taken into account via geometric relations in the evaluation of locating signals OS1.
  • the processing in the controller 3 for the automatic steering provides especially advantageous and easy-to-define geometric relations.
  • the second locating device 0V2 for the "short range area" as shown in FIG. 1 is also mounted on the cutterbar's 2 border edge SK.
  • second locating device OV2 scans the distance (shown by wavy lines in FIG. 1) between the border edge SK and the crop edge EK via a sensor such as an ultrasonic sensor.
  • a sensor such as an ultrasonic sensor.
  • the second locating device OV2 is designed for determining the distance between the cutterbar 2 border edge SK and the crop edge EK. This is advantageous for defining and controlling the cutterbar's 2 utilization rate. In conjunction with an on-line yield data acquisition system (not shown), this can be provide a more accurate area determination and, as a result, a more accurate yield mapping.
  • FIG. 3 shows the devices which comprise a harvesting machine's 1 automatic steering mechanism 10 with a pair of interconnected steerable wheels 12 which may be the rear wheels.
  • the invention is not limited to harvesting machines 1 with wheels 12, but can also be used for harvesting machines with crawler tracks.
  • the controller 3 receives the locating signals OS1, OS2 from the two locating devices OV1, OV2; an actual steering angle value 14 as indicated by a steering angle sensor 16; and a signal S1 for the machine speed S. Via an implemented norm algorithm, the controller 3 determines a control signal CS for an electrically-actuated, hydraulic control valve 20, which controls the flow of hydraulic fluid from a pump P to a steering cylinder 22 for adjustment, i.e. steering, of the wheels 12.
  • the control valve 20 also controls the return flow of hydraulic fluid from the steering cylinder 22 to a tank T.
  • the harvesting machine's 1 automatic steering mechanism 10 causes a smoothing of the tracks along a harvested crop edge EK' because of increased accuracy and, thus, less hunting by the hydraulic components 20, 22. This results from processing of the various locating signals OS1, OS2 in the controller 3 (e.g., the algorithm implemented in a micro-controller). As described above, the harvesting machine 1 has two locating devices OV1, OV2 to scan the crop edge EK in two variable distances A1, A2.
  • One locating device OV1 or OV2 scans the crop edge EK in the distant range area, for example26 to 32 feet in front of the cutterbar 2, and the other locating device OV1 or OV2 scans the crop edge EK in the short range area directly in front of, more specifically in the catchment area of, the cutterbar 2.
  • This double sensing or measurement gives improved accuracy.
  • the locating signals OS2 of the second locating device OV2 serve as an adjustment signal for an auto-pilot function, which primarily follows the distant scanning signals OS1 of the first locating device OV1.
  • the amount or degree in which the locating signals OS1, OS2 influence the automatic steering mechanism 10 can be evaluated and/or moderated depending on the driving speed S.
  • the short range signal OS2 acts upon the distant signal OS1 only when there is a pre-set deviation from the rate of utilization of the cutterbar 2. In this manner the cutterbar 2 will be sufficiently utilized, thus ensuring crops EG remaining in the field will be mowed. At the same time steering changes to wheels 12 via hydraulic components 20, 22 are minimized.
  • the controller 3 effectively minimizes each of the above-mentioned direction angles to zero.
  • the distance between the left, or alternatively the right, cutterbar border edge SK and the crop edge EK can be determined.
  • the hill drift-away effect of the harvesting machine 1 is compensated in a very advantageous manner in the event that the distance between the cutterbar boundary edge SK and the crop edge EK deviates from a pre-set value, although the harvesting machine 1 correctly moves along the crop edge EK.
  • the mean of the scanned course of the crop edge EK is determined by the sliding mean value over a certain time window.
  • Another advantageous embodiment of the present invention has a single locating device OV1 which is pivotal around its axis and depending on the pivoting angle, the locating device OV1 scans the crop edge EK in front of the cutterbar 2 at both variable distances A1, A2. In this case, a second locating device OV2 becomes unnecessary because both signals OS1, OS2 are generated from one locating device OV1.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Guiding Agricultural Machines (AREA)
  • Harvester Elements (AREA)
  • Combines (AREA)

Abstract

A harvesting machine with an automatic steering mechanism consists of a self-propelled machine with a cutterbar mounted in the driving direction. The harvesting machine also has generally-known locating devices to scan the crop edge, in particular, the border between the mowed and unmowed crops. The location devices produce signals that are processed by a controller and, via devices well-known in the art, are utilized by the automatic steering mechanism. The crop edge is scanned in at least two variable distances in front of the cutterbar. The controller processes at least two locating signals received in variable scanning distances in front of the cutterbar. The locating signals are used by devices well-known in the art for the automatic steering mechanism.

Description

BACKGROUND OF THE INVENTION
The present invention relates generally to agricultural machinery and, more particularly, to improvements to harvesting machines for agricultural crops.
Some harvesting machines are self-propelled and have a cutterbar, or mowing unit, and a locating device to scan the crop edge for steering orientation. Such a harvesting machine is disclosed in German Patent application 24 55 836. This harvesting machine scans the crop edge within a certain distance via a reflex position locator, either by means of light beams or ultrasonic waves, without physical contact in front of the cutterbar. However, in the harvesting process the automatic steering mechanism of the afore-mentioned harvesting machine has led to irregular tracks and non-uniform crop edges. Furthermore, during operation of the harvesting machine on a hillside, the hill drift-away effect of the automatically-steerable harvesting machine is not sufficiently compensated.
It is an object of the present invention to overcome one or more of the above-described deficiencies. Another object is to improve the aforementioned harvesting machine by producing a rugged and more reliable automatic steering mechanism for harvesting machines.
SUMMARY OF THE INVENTION
In accordance with the present invention there is provided a self-propelled harvesting machine for harvesting agricultural crops and including steerable wheels, a cutterbar, a locating device which determines the crop edge and produces locating signals, a controller for receiving the locating signals, and a steering mechanism for the steerable wheels; wherein the locating device is constructed and arranged to sense the crop edge in front of the cutterbar in at least two separate distances and produces at least two separate locating signals; and the controller processes the two locating signals received to determine the path of travel and controls the steering mechanism accordingly.
According to the invention, the automatically-steered harvesting machine has at least one generally-known locating device to scan the crop-edge. To facilitate automatic steering, the locating signals are fed to a controller, such as electronic circuits or a micro-controller, where they are processed. In addition to the locating signals, the controller also receives the harvesting machine's actual steering lock angle values from the steerable wheels in a manner known in the art, and operates via well-known hydraulic devices to adjust the steerable wheels. Such devices are, for example, a hydraulic steering cylinder, which is controlled by an electrically actuated hydraulic control valve filled with hydraulic fluid.
In the preferred embodiment of the invention, the controller for the automatic steering mechanism processes two or more reported locating signals in variable scanning distances mounted in front of the cutterbar. This arrangement provides a harvesting machine with automatic steering mechanism with durable operating controls and enhanced reliability.
In accordance with another aspect of the present invention there is provided a method for automatically steering a self-propelled harvesting machine which has a cutter bar, steerable wheels, and a steering mechanism for the steerable wheels; the method including the steps of: sensing the crop edge in front of the cutterbar in at least two separate distances and producing at least two separate locating signals; processing the two locating signals received to determine the path of travel for the machine; and controlling the steering mechanism accordingly.
BRIEF DESCRIPTION OF THE DRAWINGS
Reference is now made to the drawings which illustrate the best known mode of carrying out the invention and which show a system and examples for putting the method into practice.
FIG. 1 is a top plan view of a harvesting machine with an automatic steering mechanism in operation during a harvesting function;
FIG. 2 is a side elevation view of the harvesting machine shown in FIG. 1; and
FIG. 3 is a schematic drawing of a controller and a steering device.
DETAILED DESCRIPTION
FIG. 1 shows a harvesting machine 1 with an automatic steering system performing the harvesting function, for example, in a grain field. The harvesting machine 1 is advantageously a self-propelled combine with a cutterbar 2. Two locating devices OV1, OV2 scan a crop edge EK in two variable distances A1, A2 in front of the cutterbar 2. The scanning point of the crop edge EK scanned by the first locating device OV1 lies in the "distant area" approximately 10 to 50 feet, and preferably 26 to 33feet in front of the cutterbar 2. For the first locating device OV1, one skilled in the art can use a reflex locating device which, as seen in FIG. 2, is mounted above the top of the crop EG and sends locating beams OS1 slightly downwardly tilted toward the ground. FIG. 2 shows a side elevation view of the harvesting machine 1 displaying the mounting position of the first locating device OV1 on the cutterbar 2 and the way in which the locating beams OS1 travel outwardly and downwardly. The locating beams OS1 scan both sides of the crop edge EK; i.e. the cut and the uncut portion of the field. In FIG. 1, the first reflex locating device OV1 is shown in the form of a laser scanner with a laser beam sending and receiving device whose laser locating beams OS1 are periodically and continually oscillated in a certain angle area. Instead of a laser scanner, one skilled in the art can also use other locating apparatus such as an ultrasonic sensor with an ultrasonic sending and receiving device for the first locating device OV1. For the distant or first locating device OV1, one skilled in the art also may use a digital camera positioned above the crops EG and tilted downwardly toward the field. The camera's surveying area in front of the cutterbar 2 for scanning the crop edge EK is evaluated via digital image processing. Using such distant locating device OV1, the position of the crop edge EK can only be determined in one spot within the camera's surveying area and the position of this spot can be used as a locating signal for an automatic steering mechanism hereafter described. As an alternative, the crop edge EK can be determined in two or more spots in the camera's surveying area, and the position of these spots can be used for the automatic steering mechanism. We will not go into more detail regarding the design of these generally-known locating devices or the evaluation of the reflecting locating beams to recognize the border between the mowed and non-mowed crops. One may rely on procedures and devices well-known in the art.
The locating device OV1 is preferably mounted on the cutterbar's 2 left or right border edge SK in such a manner that the center point beam of the locating device OV1 is directly aligned with the cutterbar's 2 border edge SK. In a design not shown, the first locating device OV1 may be mounted elsewhere on the machine 1; for example on an operator's cab 1C. In such a case, the position of the first locating device OV1 and its signals OS1 will be taken into account via geometric relations in the evaluation of locating signals OS1. However, with the arrangement of the first locating device OV1 directly on the moving unit's 2 border edge, the processing in the controller 3 for the automatic steering provides especially advantageous and easy-to-define geometric relations.
The second locating device 0V2 for the "short range area" as shown in FIG. 1 is also mounted on the cutterbar's 2 border edge SK. The
second locating device OV2 scans the distance (shown by wavy lines in FIG. 1) between the border edge SK and the crop edge EK via a sensor such as an ultrasonic sensor. One can also utilize a mechanical sensing head (not shown), which is moved in place by the crop edge whose excursion is measured. The second locating device OV2 is designed for determining the distance between the cutterbar 2 border edge SK and the crop edge EK. This is advantageous for defining and controlling the cutterbar's 2 utilization rate. In conjunction with an on-line yield data acquisition system (not shown), this can be provide a more accurate area determination and, as a result, a more accurate yield mapping.
FIG. 3 shows the devices which comprise a harvesting machine's 1 automatic steering mechanism 10 with a pair of interconnected steerable wheels 12 which may be the rear wheels. The invention is not limited to harvesting machines 1 with wheels 12, but can also be used for harvesting machines with crawler tracks. The controller 3 receives the locating signals OS1, OS2 from the two locating devices OV1, OV2; an actual steering angle value 14 as indicated by a steering angle sensor 16; and a signal S1 for the machine speed S. Via an implemented norm algorithm, the controller 3 determines a control signal CS for an electrically-actuated, hydraulic control valve 20, which controls the flow of hydraulic fluid from a pump P to a steering cylinder 22 for adjustment, i.e. steering, of the wheels 12. The control valve 20 also controls the return flow of hydraulic fluid from the steering cylinder 22 to a tank T.
The harvesting machine's 1 automatic steering mechanism 10 causes a smoothing of the tracks along a harvested crop edge EK' because of increased accuracy and, thus, less hunting by the hydraulic components 20, 22. This results from processing of the various locating signals OS1, OS2 in the controller 3 (e.g., the algorithm implemented in a micro-controller). As described above, the harvesting machine 1 has two locating devices OV1, OV2 to scan the crop edge EK in two variable distances A1, A2. One locating device OV1 or OV2 scans the crop edge EK in the distant range area, for example26 to 32 feet in front of the cutterbar 2, and the other locating device OV1 or OV2 scans the crop edge EK in the short range area directly in front of, more specifically in the catchment area of, the cutterbar 2. This double sensing or measurement gives improved accuracy. For example, the locating signals OS2 of the second locating device OV2 serve as an adjustment signal for an auto-pilot function, which primarily follows the distant scanning signals OS1 of the first locating device OV1. In addition, the amount or degree in which the locating signals OS1, OS2 influence the automatic steering mechanism 10 can be evaluated and/or moderated depending on the driving speed S.
With an especially simple control calculation, the short range signal OS2 acts upon the distant signal OS1 only when there is a pre-set deviation from the rate of utilization of the cutterbar 2. In this manner the cutterbar 2 will be sufficiently utilized, thus ensuring crops EG remaining in the field will be mowed. At the same time steering changes to wheels 12 via hydraulic components 20, 22 are minimized.
From the two or more locating signals OS1, OS2 operating at variable scanning distances in front of the cutterbar or mowing unit 2, the direction angles between the crop edge EK, which generally proceeds linearly, and the harvesting machine's longitudinal axis AX, can be accurately determined and can be used for the automatic steering control. With this steering strategy, the harvesting machine's longitudinal axis AX is guided parallel to the crop edge EK. As a result, the controller 3 effectively minimizes each of the above-mentioned direction angles to zero.
Furthermore, by using a plurality of locating signals OS1, OS2 operating at variable scanning distances in front of the cutterbar 2, the distance between the left, or alternatively the right, cutterbar border edge SK and the crop edge EK can be determined. Thus, when working alongside a hill, the hill drift-away effect of the harvesting machine 1 is compensated in a very advantageous manner in the event that the distance between the cutterbar boundary edge SK and the crop edge EK deviates from a pre-set value, although the harvesting machine 1 correctly moves along the crop edge EK.
In addition, there is provided a means to continuously store in memory of the controller 3 the scanned positions of the crop edges EK which are scanned by at least one of the two locating devices OV1, OV2. This is done to determine and store the course of the crop edge EK and to process the course of the crop edge EK by the automatic steering system's controller 3. The mean of the scanned course of the crop edge EK is determined by the sliding mean value over a certain time window.
Another advantageous embodiment of the present invention has a single locating device OV1 which is pivotal around its axis and depending on the pivoting angle, the locating device OV1 scans the crop edge EK in front of the cutterbar 2 at both variable distances A1, A2. In this case, a second locating device OV2 becomes unnecessary because both signals OS1, OS2 are generated from one locating device OV1.
Other objects, features and advantages will be apparent to those skilled in the art. While preferred embodiments of the present invention have been illustrated and described, this has been by way of illustration and the invention should not be limited except as required by the scope of the appended claims.

Claims (34)

I claim:
1. In a self-propelled harvesting machine for harvesting agricultural crops and including steerable wheels, a cutterbar, a locating device which determines the crop edge and produces locating signals, a controller for receiving the locating signals, and a steering mechanism for the steerable wheels; the improvement comprising that
the locating device is constructed and arranged to sense the standing crop edge in two separate distances in front of the cutterbar and produces two separate locating signals; and the controller processes the received two locating signals together to determine the path of travel and controls the steering mechanism accordingly.
2. A harvesting machine according to claim 1, wherein from the at least two locating signals operating at variable scanning distances in front of the cutterbar, the controller determines the direction angles between the harvesting machine's longitudinal axis and the crop edge and controls the steering mechanism.
3. A harvesting machine according to claim 1, wherein from the at least two locating signals operating at variable scanning distances in front of the cutterbar, the controller determines the distance between the cutterbar's border edge and the crop edge and controls the steering mechanism.
4. A harvesting machine according to claim 1, including at least a first and a second locating device to sense the crop edge at separate distances.
5. A harvesting machine according to claim 4, wherein said locating devices scan the crop edge in one variable distance each in front of the cutterbar.
6. A harvesting machine according to claim 4, wherein said first locating device is designed as a non-contact reflex locating device mounted above the crops with locating beams that face forward in a tilted position towards the ground.
7. A harvesting machine according to claim 6, wherein said locating beams oscillate across the crop edge to be scanned.
8. A harvesting machine according to claim 4, wherein said locating device scans the crop edge at a distance approximately 10 to 50 feet in front of the cutterbar.
9. A harvesting machine according to claim 4, wherein said locating device scans the crop edge in a distance approximately 26 to 33 feet in front of the cutterbar.
10. A harvesting machine according to claim 4 wherein said first locating device is a laser scanner having means for sending and receiving laser-beams.
11. A harvesting machine according to claim 10, including means for periodically swivelling the laser scanner so that the laser beams cover a certain angle area.
12. A harvesting machine according to claim 4, wherein said first locating device is an ultrasonic sensor having an ultrasonic sending and receiving device.
13. A harvesting machine according to claim 4, wherein said first locating device is mounted on the cutterbar.
14. A harvesting machine according to claim 13, wherein said first locating device is mounted directly on the cutterbar's left border edge.
15. A harvesting machine according to claim 13, wherein said first locating device is mounted directly on the cutterbar's right border edge.
16. A harvesting machine according to claim 4, wherein said first locating device is mounted on the machine away from the cutterbar.
17. A harvesting machine according to claim 4, wherein said second locating device senses the crop edge in the catchment area of the cutterbar.
18. A harvesting machine according to claim 4, wherein said second locating device is arranged to sense the distance between the cutterbar border edge and the crop edge.
19. A harvesting machine according to claim 18, wherein said second locating device is designed as an ultrasonic sensor with an ultrasonic sending and receiving device.
20. A harvesting machine according to claim 18, wherein said second locating device is designed as a mechanical sensing head, which is moved in place by the crop edge.
21. A harvesting machine according to claim 18, wherein said second locating device provides an additional signal for the cutterbar utilization.
22. A harvesting machine according to claim 4, wherein said first locating device is pivotal around an axis.
23. A harvesting machine according to claim 22, wherein, depending on the pivoting angle, said locating device scans the crop edge in variable distances in front of the cutterbar.
24. A harvesting machine according to claim 22, wherein said first locating device is adjustable to two pivoting angles for the distant range scanning area and the short range scanning area of the crop edge.
25. A harvesting machine according to claim 22, wherein said first locating device is infinitely pivotal so that the crop edge is infinitely scannable between the short and distant ranges.
26. A harvesting machine according to claim 1, wherein said locating device is in the form of a digital camera which is positioned above the crops and tilted forwards towards the field.
27. A harvesting machine according to claim 26, wherein said digital camera's surveying area in front of the cutterbar to scan the crop edge is evaluated via digital image processing.
28. A harvesting machine according to claim 26, wherein the crop edge is determined at one spot in said digital camera's surveying area and the position of this spot is used as a locating signal.
29. A harvesting machine according to claim 26, wherein the course of the crop edge in said digital camera's surveying area are determined at several spots and these spots are used as locating signals.
30. A harvesting machine according to claim 4, wherein the positions of the crop edge, while driving, are scanned by at least one said locating device and are continuously stored in storage rings to produce a picture of the crop edge course.
31. A harvesting machine according to claim 30, wherein said crop edge course is processed by the controller for the automatic steering mechanism.
32. A harvesting machine according to claim 30, wherein said controller computes the mean of the scanned crop edge course by forming the sliding mean value over a certain time window.
33. A harvesting machine according to claim 32, wherein said mean crop edge course is processed by the controller to control the steering mechanism.
34. A method for automatically steering a self-propelled harvesting machine which has a cutter bar, steerable wheels, and a steering mechanism for the steerable wheels; the method including the steps of:
sensing the crop edge in front of the cutterbar in at least two separate distances and producing at least two separate locating signals;
receiving and processing the two locating signals together to determine a path of travel for the machine; and
controlling the steering mechanism accordingly.
US09/076,160 1997-05-13 1998-05-12 Automatic steering mechanism and method for harvesting machine Expired - Fee Related US6101795A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19719939A DE19719939A1 (en) 1997-05-13 1997-05-13 Automatically steerable harvesting machine
DE19719939 1997-05-13

Publications (1)

Publication Number Publication Date
US6101795A true US6101795A (en) 2000-08-15

Family

ID=7829288

Family Applications (1)

Application Number Title Priority Date Filing Date
US09/076,160 Expired - Fee Related US6101795A (en) 1997-05-13 1998-05-12 Automatic steering mechanism and method for harvesting machine

Country Status (5)

Country Link
US (1) US6101795A (en)
EP (1) EP0878121B2 (en)
DE (2) DE19719939A1 (en)
DK (1) DK0878121T4 (en)
UA (1) UA44819C2 (en)

Cited By (62)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6336051B1 (en) * 1997-04-16 2002-01-01 Carnegie Mellon University Agricultural harvester with robotic control
WO2002032211A2 (en) * 2000-10-10 2002-04-25 Harvey John P Method of harvesting sugarcane
US6385515B1 (en) * 2000-06-15 2002-05-07 Case Corporation Trajectory path planner for a vision guidance system
US6389785B1 (en) * 1997-06-24 2002-05-21 Claas Selbstfahrende Erntemaschinen Gmbh Contour scanning apparatus for agricultural machinery
US6397569B1 (en) * 1998-11-18 2002-06-04 Claas Selbstfahrende Erntemaschinen Gmbh Method of adjusting a sensor unit mounted on a field machine and an adjusting device therefor
US20020189220A1 (en) * 2001-06-16 2002-12-19 Deere & Company, A Delaware Corporation System for automatically steering a utility vehicle
US20020193928A1 (en) * 2001-06-15 2002-12-19 Deere & Company, A Delaware Corporation System for determining the position of an agricultural vehicle
EP1271139A2 (en) * 2001-06-28 2003-01-02 Deere & Company Apparatus for measuring the quantity of standing plants in a field
US6615570B2 (en) * 2001-06-28 2003-09-09 Deere & Company Header position control with forward contour prediction
US6738695B1 (en) 2002-12-16 2004-05-18 Caterpillar Inc System and method for initializing autoguidance for a mobile machine
EP1266553A3 (en) * 2001-06-16 2004-07-14 Deere & Company Agricultural working vehicle automatic steering device
US20040264763A1 (en) * 2003-04-30 2004-12-30 Deere & Company System and method for detecting and analyzing features in an agricultural field for vehicle guidance
US20040264762A1 (en) * 2003-04-30 2004-12-30 Deere & Company System and method for detecting and analyzing features in an agricultural field
US20040264761A1 (en) * 2003-04-30 2004-12-30 Deere & Company System and method for detecting crop rows in an agricultural field
EP1520461A1 (en) 2003-10-02 2005-04-06 CLAAS Selbstfahrende Erntemaschinen GmbH Transformation device within an agricultural machine
US20050081498A1 (en) * 2003-03-19 2005-04-21 John Harvey Method of harvesting sugarcane
US20050088643A1 (en) * 2003-09-15 2005-04-28 Anderson Noel W. Method and system for identifying an edge of a crop
US20050217600A1 (en) * 1999-10-20 2005-10-06 Berg Karel V D Implement for demarcating an area, as well as a vehicle suitable for being used in said implement
US20060116798A1 (en) * 2004-11-30 2006-06-01 Mark Gibson Method and system for implementing automatic vehicle control with parameter-driven disengagement
US20060149446A1 (en) * 2004-12-21 2006-07-06 Deere & Company, A Delaware Corporation Automatic steering system
US20060167600A1 (en) * 2005-01-27 2006-07-27 Raven Industries, Inc. Architecturally partitioned automatic steering system and method
US20060185340A1 (en) * 2003-05-19 2006-08-24 Eyre Robert J Cutting and threshing header for harvesting machine
US7155888B2 (en) 2002-02-05 2007-01-02 Claas Selbstfahrende Gmbh Agricultural machine with a guidance system
US7412905B1 (en) 2004-05-31 2008-08-19 Richard Anthony Bishel Paddle sensor
US20080224445A1 (en) * 2006-01-31 2008-09-18 Jean Viaud Tractor And Baler Combination With Automatic Baling And Steering Control
US20100063652A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Garment for Use Near Autonomous Machines
US20100063673A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Multi-vehicle high integrity perception
US20100063680A1 (en) * 2008-09-11 2010-03-11 Jonathan Louis Tolstedt Leader-follower semi-autonomous vehicle with operator on side
US20100063681A1 (en) * 2006-11-27 2010-03-11 Carl Zeiss Microimaging Gmbh Method and arrangement for the steering of a vehicle
US20100063672A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Vehicle with high integrity perception system
US20100063651A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson High integrity perception for machine localization and safeguarding
US20100063626A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Distributed knowledge base for vehicular localization and work-site management
US20100063954A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Distributed knowledge base method for vehicular localization and work-site management
US20100063664A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson High integrity perception program
US20100063648A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Distributed knowledge base program for vehicular localization and work-site management
US20110153172A1 (en) * 2009-12-23 2011-06-23 Noel Wayne Anderson Area management
US20110160968A1 (en) * 2009-12-29 2011-06-30 Agco Corporation Work implement control based on worked area
US20110205084A1 (en) * 2010-02-22 2011-08-25 Cnh America, Llc system and method for coordinating harvester and transport vehicle unloading operations
US20120096823A1 (en) * 2009-08-25 2012-04-26 Francis Wilson Moore Fruit Tree Pruner and Harvesting Machine
US8185275B2 (en) * 2005-07-01 2012-05-22 Deere & Company System for vehicular guidance with respect to harvested crop
US8229618B2 (en) 2008-09-11 2012-07-24 Deere & Company Leader-follower fully autonomous vehicle with operator on side
CN103155758A (en) * 2013-03-12 2013-06-19 上海大学 Laser navigation system of unmanned combine-harvester
US20140003889A1 (en) * 2012-06-28 2014-01-02 Forage Innovations B.V. Self-aligning apparatus and methods for gathering bales
WO2014105928A1 (en) * 2012-12-28 2014-07-03 Agco Corporation Method and applications of local coordinate system based on optical flow with video cameras
US8989972B2 (en) 2008-09-11 2015-03-24 Deere & Company Leader-follower fully-autonomous vehicle with operator on side
US9026315B2 (en) 2010-10-13 2015-05-05 Deere & Company Apparatus for machine coordination which maintains line-of-site contact
US9296411B2 (en) 2014-08-26 2016-03-29 Cnh Industrial America Llc Method and system for controlling a vehicle to a moving point
US20170027101A1 (en) * 2015-07-29 2017-02-02 Claas Omaha Inc. Agricultural system
US9867331B1 (en) 2014-10-28 2018-01-16 Hydro-Gear Limited Partnership Utility vehicle with onboard and remote control systems
US10058031B1 (en) 2015-02-28 2018-08-28 Hydro-Gear Limited Partnership Lawn tractor with electronic drive and control system
US10117374B2 (en) 2013-10-28 2018-11-06 Cnh Industrial America Llc Forage harvester swath sensor
US20190078292A1 (en) * 2016-03-23 2019-03-14 Komatsu Ltd. Work vechile
US10629005B1 (en) 2014-10-20 2020-04-21 Hydro-Gear Limited Partnership Interactive sensor, communications, and control system for a utility vehicle
USRE48154E1 (en) * 2012-07-17 2020-08-11 Agjunction Llc System and method for integrating automatic electrical steering with GNSS guidance
US11143261B2 (en) 2017-05-10 2021-10-12 Harvestmoore, L.L.C. Shock damping systems and methods for using shock damping systems
EP3892077A1 (en) * 2020-04-09 2021-10-13 CLAAS E-Systems GmbH Steering system for a commercial vehicle
US11172605B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
US11172608B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
US11606895B2 (en) 2018-11-28 2023-03-21 Zf Friedrichshafen Ag Automatic steering of an agricultural machine on an agricultural surface
US11793111B2 (en) 2019-11-27 2023-10-24 Cnh Industrial America Llc Harvesting head reel-mounted laser measurement
EP4331332A1 (en) * 2022-08-25 2024-03-06 CLAAS Selbstfahrende Erntemaschinen GmbH System for determining a crop edge and self-propelled harvester
US11957090B2 (en) 2016-09-15 2024-04-16 Harvestmoore, L.L.C. Methods for pruning fruit plants

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19743884C2 (en) * 1997-10-04 2003-10-09 Claas Selbstfahr Erntemasch Device and method for the contactless detection of processing limits or corresponding guide variables
DE19845666B4 (en) 1998-10-05 2005-08-25 Claas Selbstfahrende Erntemaschinen Gmbh Automatic steering with ultrasonic locating device
DE10208012A1 (en) 2002-02-26 2003-09-04 Claas Selbstfahr Erntemasch Tracking system on an agricultural machine
CA2505458C (en) * 2005-03-08 2008-02-19 Macdon Industries Ltd. Tractor with reversible operator position for operation and transport
DE102005025966A1 (en) 2005-06-03 2006-12-21 Claas Selbstfahrende Erntemaschinen Gmbh Steering system for agricultural vehicles

Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2224205A1 (en) * 1972-05-18 1973-11-29 Fahr Ag Maschf LATERAL GUIDE CONTROLLER FOR SELF-PROPELLED MACHINERY
US3946825A (en) * 1973-08-14 1976-03-30 Maschinenfabrik Fahr Ag Automatic steering system for standing-crop harvester
US3952828A (en) * 1973-08-14 1976-04-27 Maschinenfabrik Fahr Ag Automatic steering system for row-crop harvester and sensor therefor
DE2145717B2 (en) * 1971-09-13 1977-07-28 Ausscheidung in: 21 66 978 Maschinenfabrik Fahr AG Gottmadingen, 7702 Gottmadingen INDEPENDENT STEERING DEVICE FOR LATERAL GUIDANCE OF AGRICULTURAL MACHINERY, IN PARTICULAR FOR SELF-PROPELLED COMBINE
US4077488A (en) * 1976-06-15 1978-03-07 Sperry Rand Corporation Guidance assist system for agricultural machines
DE2455836B2 (en) * 1974-11-26 1980-05-14 Gebr. Claas Maschinenfabrik Gmbh, 4834 Harsewinkel Device for the automatic guidance of agricultural machinery
US4304316A (en) * 1977-08-25 1981-12-08 Zahnradfabrik Friedrichshafen, Ag Comparator for the automatic control system of an automatic steering installation
US4868752A (en) * 1987-07-30 1989-09-19 Kubota Ltd. Boundary detecting method and apparatus for automatic working vehicle
DE9103030U1 (en) * 1991-03-13 1991-06-20 Moba-Electronic Gesellschaft für Mobil-Automation mbH, 6254 Elz Ultrasonic distance measuring device, in particular for controlling a construction machine or an agricultural machine
US5234070A (en) * 1991-02-25 1993-08-10 Trw Inc. Automatic vehicle steering apparatus
DE4220913A1 (en) * 1992-06-25 1994-01-05 Juergen Binder Contactless detection of relative lateral position of row of plants to agricultural processing machine - uses two pairs of light barriers at angle to each other in same plane parallel to ground and arranged for particular type of plant and stage of development.
DE19508941A1 (en) * 1995-03-13 1996-09-19 Claas Ohg Locating device
DE19514223A1 (en) * 1995-04-15 1996-10-17 Claas Ohg Process for optimizing the use of agricultural machinery
US5715666A (en) * 1995-03-13 1998-02-10 Claas Kommanditgesellschaft Auf Aktien Reflex locating device
US5828971A (en) * 1995-03-13 1998-10-27 Claas Kgaa Automatic steering device for an electrically controllable hydraulic steering system, especially for an agricultural vehicle
US5911669A (en) * 1996-04-19 1999-06-15 Carnegie Mellon University Vision-based crop line tracking for harvesters

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1497945A (en) * 1966-10-27 1967-10-13 Traktorenwerk Schonebeck Veb Automatic guidance device acting on the steering, in particular for tractors and agricultural motor vehicles
DE2608049A1 (en) * 1976-02-27 1977-09-01 Claas Maschf Gmbh Geb METHOD AND DEVICE FOR MEASURING PLANT DENSITY FOR THE CONTROL OF HARVESTING MACHINERY
US4482960A (en) * 1981-11-20 1984-11-13 Diffracto Ltd. Robot tractors
JPH0646886B2 (en) * 1986-09-27 1994-06-22 株式会社クボタ Steering control device for automated vehicle
JPS63245604A (en) * 1987-03-30 1988-10-12 井関農機株式会社 Advance direction control system of harvester
JPS63269913A (en) * 1987-04-28 1988-11-08 Iseki & Co Ltd Boundary detecting device

Patent Citations (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2145717B2 (en) * 1971-09-13 1977-07-28 Ausscheidung in: 21 66 978 Maschinenfabrik Fahr AG Gottmadingen, 7702 Gottmadingen INDEPENDENT STEERING DEVICE FOR LATERAL GUIDANCE OF AGRICULTURAL MACHINERY, IN PARTICULAR FOR SELF-PROPELLED COMBINE
GB1364400A (en) * 1972-05-18 1974-08-21 Fahr Ag Maschf Automatic direktion control device
DE2224205A1 (en) * 1972-05-18 1973-11-29 Fahr Ag Maschf LATERAL GUIDE CONTROLLER FOR SELF-PROPELLED MACHINERY
US3946825A (en) * 1973-08-14 1976-03-30 Maschinenfabrik Fahr Ag Automatic steering system for standing-crop harvester
US3952828A (en) * 1973-08-14 1976-04-27 Maschinenfabrik Fahr Ag Automatic steering system for row-crop harvester and sensor therefor
DE2455836B2 (en) * 1974-11-26 1980-05-14 Gebr. Claas Maschinenfabrik Gmbh, 4834 Harsewinkel Device for the automatic guidance of agricultural machinery
DE2455836C3 (en) * 1974-11-26 1982-01-21 Gebr.Claas Maschinenfabrik GmbH, 4834 Harsewinkel Device for the automatic guidance of agricultural machinery
US4077488A (en) * 1976-06-15 1978-03-07 Sperry Rand Corporation Guidance assist system for agricultural machines
US4304316A (en) * 1977-08-25 1981-12-08 Zahnradfabrik Friedrichshafen, Ag Comparator for the automatic control system of an automatic steering installation
US4868752A (en) * 1987-07-30 1989-09-19 Kubota Ltd. Boundary detecting method and apparatus for automatic working vehicle
US5234070A (en) * 1991-02-25 1993-08-10 Trw Inc. Automatic vehicle steering apparatus
DE9103030U1 (en) * 1991-03-13 1991-06-20 Moba-Electronic Gesellschaft für Mobil-Automation mbH, 6254 Elz Ultrasonic distance measuring device, in particular for controlling a construction machine or an agricultural machine
DE4220913A1 (en) * 1992-06-25 1994-01-05 Juergen Binder Contactless detection of relative lateral position of row of plants to agricultural processing machine - uses two pairs of light barriers at angle to each other in same plane parallel to ground and arranged for particular type of plant and stage of development.
DE4220913C2 (en) * 1992-06-25 1995-01-05 Binder Juergen Dipl Ing Fh Device and method for contactless detection of the relative lateral position of a row of plants to an agricultural machine in row crops
DE19508941A1 (en) * 1995-03-13 1996-09-19 Claas Ohg Locating device
US5715665A (en) * 1995-03-13 1998-02-10 Claas Kommanditgesellschaft Auf Aktien Locating device for an automatic steering system of an agricultural vehicle
US5715666A (en) * 1995-03-13 1998-02-10 Claas Kommanditgesellschaft Auf Aktien Reflex locating device
US5828971A (en) * 1995-03-13 1998-10-27 Claas Kgaa Automatic steering device for an electrically controllable hydraulic steering system, especially for an agricultural vehicle
DE19514223A1 (en) * 1995-04-15 1996-10-17 Claas Ohg Process for optimizing the use of agricultural machinery
US5911669A (en) * 1996-04-19 1999-06-15 Carnegie Mellon University Vision-based crop line tracking for harvesters

Cited By (102)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6336051B1 (en) * 1997-04-16 2002-01-01 Carnegie Mellon University Agricultural harvester with robotic control
US6389785B1 (en) * 1997-06-24 2002-05-21 Claas Selbstfahrende Erntemaschinen Gmbh Contour scanning apparatus for agricultural machinery
US6397569B1 (en) * 1998-11-18 2002-06-04 Claas Selbstfahrende Erntemaschinen Gmbh Method of adjusting a sensor unit mounted on a field machine and an adjusting device therefor
US20050217600A1 (en) * 1999-10-20 2005-10-06 Berg Karel V D Implement for demarcating an area, as well as a vehicle suitable for being used in said implement
US6385515B1 (en) * 2000-06-15 2002-05-07 Case Corporation Trajectory path planner for a vision guidance system
WO2002032211A2 (en) * 2000-10-10 2002-04-25 Harvey John P Method of harvesting sugarcane
WO2002032211A3 (en) * 2000-10-10 2002-08-29 John P Harvey Method of harvesting sugarcane
US6834483B2 (en) 2000-10-10 2004-12-28 John P. Harvey Method of harvesting sugarcane
US20020193928A1 (en) * 2001-06-15 2002-12-19 Deere & Company, A Delaware Corporation System for determining the position of an agricultural vehicle
US6760654B2 (en) * 2001-06-16 2004-07-06 Deere & Company System for determining the position of an agricultural vehicle
EP1266553A3 (en) * 2001-06-16 2004-07-14 Deere & Company Agricultural working vehicle automatic steering device
US7350343B2 (en) * 2001-06-16 2008-04-01 Deere & Company System for automatically steering a utility vehicle
US20020189220A1 (en) * 2001-06-16 2002-12-19 Deere & Company, A Delaware Corporation System for automatically steering a utility vehicle
US6615570B2 (en) * 2001-06-28 2003-09-09 Deere & Company Header position control with forward contour prediction
US6584390B2 (en) 2001-06-28 2003-06-24 Deere & Company System for measuring the amount of crop to be harvested
EP1271139A3 (en) * 2001-06-28 2005-09-07 Deere & Company Apparatus for measuring the quantity of standing plants in a field
EP1271139A2 (en) * 2001-06-28 2003-01-02 Deere & Company Apparatus for measuring the quantity of standing plants in a field
US7155888B2 (en) 2002-02-05 2007-01-02 Claas Selbstfahrende Gmbh Agricultural machine with a guidance system
US6738695B1 (en) 2002-12-16 2004-05-18 Caterpillar Inc System and method for initializing autoguidance for a mobile machine
US20050081498A1 (en) * 2003-03-19 2005-04-21 John Harvey Method of harvesting sugarcane
US8855405B2 (en) 2003-04-30 2014-10-07 Deere & Company System and method for detecting and analyzing features in an agricultural field for vehicle guidance
US20040264763A1 (en) * 2003-04-30 2004-12-30 Deere & Company System and method for detecting and analyzing features in an agricultural field for vehicle guidance
US20040264761A1 (en) * 2003-04-30 2004-12-30 Deere & Company System and method for detecting crop rows in an agricultural field
US8712144B2 (en) 2003-04-30 2014-04-29 Deere & Company System and method for detecting crop rows in an agricultural field
US8737720B2 (en) 2003-04-30 2014-05-27 Deere & Company System and method for detecting and analyzing features in an agricultural field
US20040264762A1 (en) * 2003-04-30 2004-12-30 Deere & Company System and method for detecting and analyzing features in an agricultural field
US20060185340A1 (en) * 2003-05-19 2006-08-24 Eyre Robert J Cutting and threshing header for harvesting machine
US7916898B2 (en) 2003-09-15 2011-03-29 Deere & Company Method and system for identifying an edge of a crop
US20050088643A1 (en) * 2003-09-15 2005-04-28 Anderson Noel W. Method and system for identifying an edge of a crop
EP1520461A1 (en) 2003-10-02 2005-04-06 CLAAS Selbstfahrende Erntemaschinen GmbH Transformation device within an agricultural machine
US7412905B1 (en) 2004-05-31 2008-08-19 Richard Anthony Bishel Paddle sensor
EP1652420A1 (en) * 2004-10-29 2006-05-03 Deere & Company Method and system for identifying an edge of a crop
US20060195238A1 (en) * 2004-11-30 2006-08-31 Mark Gibson Method and system for preventing automatic re-engagement of automatic vehicle control
US7574290B2 (en) 2004-11-30 2009-08-11 Trimble Navigation Limited Method and system for implementing automatic vehicle control with parameter-driven disengagement
US20060116798A1 (en) * 2004-11-30 2006-06-01 Mark Gibson Method and system for implementing automatic vehicle control with parameter-driven disengagement
US20060149446A1 (en) * 2004-12-21 2006-07-06 Deere & Company, A Delaware Corporation Automatic steering system
AU2005246974B2 (en) * 2004-12-21 2011-12-15 Deere & Company Automatic steering system
US7349779B2 (en) * 2004-12-21 2008-03-25 Deere & Company Automatic steering system
US20060167600A1 (en) * 2005-01-27 2006-07-27 Raven Industries, Inc. Architecturally partitioned automatic steering system and method
US8185275B2 (en) * 2005-07-01 2012-05-22 Deere & Company System for vehicular guidance with respect to harvested crop
US8433483B2 (en) 2005-07-01 2013-04-30 Deere & Company Method and system for vehicular guidance with respect to harvested crop
US7640721B2 (en) * 2006-01-31 2010-01-05 Deere & Company Tractor and baler combination with automatic baling and steering control
US20080224445A1 (en) * 2006-01-31 2008-09-18 Jean Viaud Tractor And Baler Combination With Automatic Baling And Steering Control
US20100063681A1 (en) * 2006-11-27 2010-03-11 Carl Zeiss Microimaging Gmbh Method and arrangement for the steering of a vehicle
US9188980B2 (en) 2008-09-11 2015-11-17 Deere & Company Vehicle with high integrity perception system
US20100063673A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Multi-vehicle high integrity perception
US20100063664A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson High integrity perception program
US9274524B2 (en) 2008-09-11 2016-03-01 Deere & Company Method for machine coordination which maintains line-of-site contact
US9235214B2 (en) 2008-09-11 2016-01-12 Deere & Company Distributed knowledge base method for vehicular localization and work-site management
US20100063652A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Garment for Use Near Autonomous Machines
US8989972B2 (en) 2008-09-11 2015-03-24 Deere & Company Leader-follower fully-autonomous vehicle with operator on side
US20100063648A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Distributed knowledge base program for vehicular localization and work-site management
US20100063954A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Distributed knowledge base method for vehicular localization and work-site management
US8818567B2 (en) 2008-09-11 2014-08-26 Deere & Company High integrity perception for machine localization and safeguarding
US20100063626A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Distributed knowledge base for vehicular localization and work-site management
US8195358B2 (en) 2008-09-11 2012-06-05 Deere & Company Multi-vehicle high integrity perception
US8195342B2 (en) 2008-09-11 2012-06-05 Deere & Company Distributed knowledge base for vehicular localization and work-site management
US8200428B2 (en) 2008-09-11 2012-06-12 Deere & Company Multi-vehicle high integrity perception
US8224500B2 (en) 2008-09-11 2012-07-17 Deere & Company Distributed knowledge base program for vehicular localization and work-site management
US8229618B2 (en) 2008-09-11 2012-07-24 Deere & Company Leader-follower fully autonomous vehicle with operator on side
US8392065B2 (en) 2008-09-11 2013-03-05 Deere & Company Leader-follower semi-autonomous vehicle with operator on side
US20100063651A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson High integrity perception for machine localization and safeguarding
US20100063680A1 (en) * 2008-09-11 2010-03-11 Jonathan Louis Tolstedt Leader-follower semi-autonomous vehicle with operator on side
US8467928B2 (en) 2008-09-11 2013-06-18 Deere & Company Multi-vehicle high integrity perception
US20100063672A1 (en) * 2008-09-11 2010-03-11 Noel Wayne Anderson Vehicle with high integrity perception system
US8478493B2 (en) 2008-09-11 2013-07-02 Deere & Company High integrity perception program
US8560145B2 (en) 2008-09-11 2013-10-15 Deere & Company Distributed knowledge base program for vehicular localization and work-site management
US8666587B2 (en) 2008-09-11 2014-03-04 Deere & Company Multi-vehicle high integrity perception
US20120096823A1 (en) * 2009-08-25 2012-04-26 Francis Wilson Moore Fruit Tree Pruner and Harvesting Machine
US9226446B2 (en) * 2009-08-25 2016-01-05 Francis Wilson Moore Robotic fruit tree pruner and harvester machine
JP2011138507A (en) * 2009-12-23 2011-07-14 Deere & Co Area management
EP2338322A3 (en) * 2009-12-23 2011-10-12 Deere & Company Apparatus, computer program and method for controlling an agricultural implement
US20110153172A1 (en) * 2009-12-23 2011-06-23 Noel Wayne Anderson Area management
US20110160968A1 (en) * 2009-12-29 2011-06-30 Agco Corporation Work implement control based on worked area
US8451139B2 (en) 2010-02-22 2013-05-28 Cnh America Llc System and method for coordinating harvester and transport vehicle unloading operations
US20110205084A1 (en) * 2010-02-22 2011-08-25 Cnh America, Llc system and method for coordinating harvester and transport vehicle unloading operations
US9026315B2 (en) 2010-10-13 2015-05-05 Deere & Company Apparatus for machine coordination which maintains line-of-site contact
US9271446B2 (en) * 2012-06-28 2016-03-01 Forage Innovations B.V. Self-aligning apparatus and methods for gathering bales
US20140003889A1 (en) * 2012-06-28 2014-01-02 Forage Innovations B.V. Self-aligning apparatus and methods for gathering bales
US10028439B2 (en) 2012-06-28 2018-07-24 Vermeer Manufacturing Company Apparatus for gathering bales that include a forward-looking sensor and methods for gathering bales using such apparatus
USRE48154E1 (en) * 2012-07-17 2020-08-11 Agjunction Llc System and method for integrating automatic electrical steering with GNSS guidance
WO2014105928A1 (en) * 2012-12-28 2014-07-03 Agco Corporation Method and applications of local coordinate system based on optical flow with video cameras
CN103155758A (en) * 2013-03-12 2013-06-19 上海大学 Laser navigation system of unmanned combine-harvester
US10117374B2 (en) 2013-10-28 2018-11-06 Cnh Industrial America Llc Forage harvester swath sensor
US9296411B2 (en) 2014-08-26 2016-03-29 Cnh Industrial America Llc Method and system for controlling a vehicle to a moving point
US11127228B1 (en) 2014-10-20 2021-09-21 Hydro-Gear Limited Partnership Interactive sensor, communications, and control system for a utility vehicle
US10629005B1 (en) 2014-10-20 2020-04-21 Hydro-Gear Limited Partnership Interactive sensor, communications, and control system for a utility vehicle
US9867331B1 (en) 2014-10-28 2018-01-16 Hydro-Gear Limited Partnership Utility vehicle with onboard and remote control systems
US10058031B1 (en) 2015-02-28 2018-08-28 Hydro-Gear Limited Partnership Lawn tractor with electronic drive and control system
US12114607B1 (en) 2015-02-28 2024-10-15 Hydro-Gear Limited Partnership Lawn tractor with electronic drive and control system
US9706697B2 (en) * 2015-07-29 2017-07-18 Claas Omaha, Inc. Agricultural system with a baler and tow tractor and a steering arrangement by which the baler is steered autonomously
US20170027101A1 (en) * 2015-07-29 2017-02-02 Claas Omaha Inc. Agricultural system
US20190078292A1 (en) * 2016-03-23 2019-03-14 Komatsu Ltd. Work vechile
US11172605B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
US11172608B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
US11832552B2 (en) 2016-06-30 2023-12-05 Techtronic Outdoor Products Technology Limited Autonomous lawn mower and a system for navigating thereof
US11957090B2 (en) 2016-09-15 2024-04-16 Harvestmoore, L.L.C. Methods for pruning fruit plants
US11143261B2 (en) 2017-05-10 2021-10-12 Harvestmoore, L.L.C. Shock damping systems and methods for using shock damping systems
US11606895B2 (en) 2018-11-28 2023-03-21 Zf Friedrichshafen Ag Automatic steering of an agricultural machine on an agricultural surface
US11793111B2 (en) 2019-11-27 2023-10-24 Cnh Industrial America Llc Harvesting head reel-mounted laser measurement
EP3892077A1 (en) * 2020-04-09 2021-10-13 CLAAS E-Systems GmbH Steering system for a commercial vehicle
EP4331332A1 (en) * 2022-08-25 2024-03-06 CLAAS Selbstfahrende Erntemaschinen GmbH System for determining a crop edge and self-propelled harvester

Also Published As

Publication number Publication date
DE59808579D1 (en) 2003-07-10
EP0878121B1 (en) 2003-06-04
EP0878121B2 (en) 2006-04-05
UA44819C2 (en) 2002-03-15
DK0878121T4 (en) 2006-07-03
EP0878121A1 (en) 1998-11-18
DE19719939A1 (en) 1998-11-19
DK0878121T3 (en) 2003-09-29

Similar Documents

Publication Publication Date Title
US6101795A (en) Automatic steering mechanism and method for harvesting machine
US11716930B2 (en) Surroundings detection device for agricultural work machines
US7155888B2 (en) Agricultural machine with a guidance system
US6095254A (en) Device and method for detecting cultivation boundaries and other guide variables
CA2390749C (en) System for automatically steering a utility vehicle
US6389785B1 (en) Contour scanning apparatus for agricultural machinery
US6584390B2 (en) System for measuring the amount of crop to be harvested
US6697724B2 (en) Automatic steering system using signal quality information
EP0801885B1 (en) Vision-based crop line tracking for harvesters
US8275506B1 (en) Boundary sensor
CA2388212C (en) System for determining the position of an agricultural vehicle
US6336051B1 (en) Agricultural harvester with robotic control
US6397569B1 (en) Method of adjusting a sensor unit mounted on a field machine and an adjusting device therefor
EP3342274A1 (en) Sensor fusion-based swath profile
JP2000342013A (en) Reaping and harvesting machine
JPH0820A (en) Control device for mobile working machine
JP7546470B2 (en) Agricultural machinery
JP2629014B2 (en) Steering control information detection device for harvesters
JP7489836B2 (en) Harvesting Machine
JP2583587B2 (en) Steering control device for automatic traveling machine
JPS6348488B2 (en)
JPH026483B2 (en)
JPH064128A (en) Border detecting device for lawn mowing machine
JPS6121041B2 (en)
JPS6348486B2 (en)

Legal Events

Date Code Title Description
AS Assignment

Owner name: CLAAS KGAA, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:DIEKHANS, NORBERT;REEL/FRAME:009181/0356

Effective date: 19980507

FEPP Fee payment procedure

Free format text: PAYOR NUMBER ASSIGNED (ORIGINAL EVENT CODE: ASPN); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

FPAY Fee payment

Year of fee payment: 4

FPAY Fee payment

Year of fee payment: 8

REMI Maintenance fee reminder mailed
LAPS Lapse for failure to pay maintenance fees
STCH Information on status: patent discontinuation

Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362

FP Lapsed due to failure to pay maintenance fee

Effective date: 20120815